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Inverse kinematics and dynamics of an overconstrained manipulator for upper extremity rehabilitation

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dc.contributor.author Selvi, Özgün
dc.contributor.author Yılmaz, K.
dc.date.accessioned 2020-02-18T08:12:21Z
dc.date.available 2020-02-18T08:12:21Z
dc.date.issued 2017
dc.identifier.citation Özgün, Selvi; Yılmaz, K., "Inverse kinematics and dynamics of an overconstrained manipulator for upper extremity rehabilitation", New Advances In Mechanisms, Mechanical Transmissions And Robotics, Vol:46, pp. 437-443, (2017). tr_TR
dc.identifier.isbn 978-3-319-45450-4
dc.identifier.uri http://hdl.handle.net/20.500.12416/2478
dc.description.abstract In this paper, an overconstrained manipulator is selected for the purpose of rehabilitation of the upper extremity. The geometry of the selected manipulator fits the exact motion of the upper extremity and acts as an exoskeleton. Inverse kinematics calculations are shown for describing the motion of actuators for a desired arm motion. Lagrange Formulation is used for the inverse dynamic model of the system. Due to the geometry of the manipulator, kinematic and dynamic calculations are applied to the two spherical subspaces of the manipulator using imaginary joints. tr_TR
dc.language.iso eng tr_TR
dc.publisher Springer International Publishing tr_TR
dc.relation.isversionof 10.1007/978-3-319-45450-4_44 tr_TR
dc.rights info:eu-repo/semantics/closedAccess tr_TR
dc.subject Rehabilitation Robotics tr_TR
dc.subject Overconstrained Manipulators tr_TR
dc.subject Lagrange Dynamic Analysis tr_TR
dc.subject Exoskeleton tr_TR
dc.title Inverse kinematics and dynamics of an overconstrained manipulator for upper extremity rehabilitation tr_TR
dc.type bookPart tr_TR
dc.relation.journal New Advances In Mechanisms, Mechanical Transmissions And Robotics tr_TR
dc.contributor.authorID 46949 tr_TR
dc.identifier.volume 46 tr_TR
dc.identifier.startpage 437 tr_TR
dc.identifier.endpage 443 tr_TR
dc.contributor.department Çankaya Üniversitesi, Mühendislik Fakültesi,Makine Mühendisliği Bölümü tr_TR


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